CN101995846A - Moving vehicle system and in-position determination method of moving vehicle - Google Patents
Moving vehicle system and in-position determination method of moving vehicle Download PDFInfo
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- CN101995846A CN101995846A CN2010102339820A CN201010233982A CN101995846A CN 101995846 A CN101995846 A CN 101995846A CN 2010102339820 A CN2010102339820 A CN 2010102339820A CN 201010233982 A CN201010233982 A CN 201010233982A CN 101995846 A CN101995846 A CN 101995846A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/02—Registering or indicating driving, working, idle, or waiting time only
- G07C5/04—Registering or indicating driving, working, idle, or waiting time only using counting means or digital clocks
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position Or Direction (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The present invention provides a moving vehicle system and an in-position determination method of moving vehicle. A sensor and a computing mechanism are disposed, wherein the sensor is used for obtaining a position, a velocity and an acceleration of the moving vehicle; the computing mechanism determines whether a stop position of the moving vehicle is within an in-position range or not according to the obtained position, the velocity and the acceleration.
Description
Technical field
The present invention relates to a kind of movable body system, particularly whether moving body can stop at the judgement of (putting in place) in the permissible range.
Background technology
For the moving body of multiaxis, following situation is more, that is, entering in the specialized range (in the scope that puts in place) with the 1st position is condition, makes the 2nd action.For example in overhead crane, when the direction of travel position entered in the specialized range, lifting table began lifting or traverse feed.In piler and unmanned conveyance car,, make shifting apparatus actions such as sliding york when direction of travel position (and the lifting direction position in the piler) when entering in the specialized range.In lathe etc., when the position enters in the specialized range in the 1st x direction position or the xy face, instrument is moved in addition, and begin processing along the 2nd z direction.
Sequentially-operating to the 1st and the 2nd is used the judgement that puts in place, when the 1st position enters in the scope of putting in place, begins to carry out the 2nd action.For example patent documentation 1 (JP2000-231412A) discloses following technology, promptly, z is axial when mobile when then carrying out behind mobile in the xy face, carries out the judgement that puts in place about the synthetic moving direction in the xy face, moves the judgement of carrying out in the one dimension that puts in place for two dimension.
But, when only using current location whether to put in place to judge in the scope, be judged to be put in place after, moving body may be because overshoot and breaking away from from the scope that puts in place.By Fig. 6, Fig. 7 this situation is described.Fig. 6 represents that moving body does not vibrate and the situation that stops, and Fig. 7 represents that moving body is owing to vibration produces the situation of overshoot.A) locative track among Fig. 6, Fig. 7, b) expression speed and the position track on phase face, c) result of determination that puts in place in rough and accurate these 2 stages of expression.In Fig. 6, moving body does not slow down towards destination locations quiveringly, and overshoot does not take place.Relative with it, in Fig. 7, position and speed vibration, the track in the phase face is a spiral fashion, is necessary to cancel halfway the judgement that puts in place of temporary transient establishment.
Summary of the invention
Problem of the present invention is rapidly and correctly judges to have or not because overshoot and the possibility that breaks away from from the scope that puts in place.
The present invention is the system that has put in place in moving body has entered the scope that puts in place the time and judged, it is characterized in that, be provided with sensor and calculation mechanism, the sensor is used to try to achieve position, speed and the acceleration of moving body, and aforementioned calculation mechanism is used for inferring based on the position of being tried to achieve, speed and acceleration the stop position of moving body whether in the scope of putting in place.
In the present invention, according to current location in the scope of putting in place and infer stop position also the two is judged in the scope of putting in place.Therefore, the possibility that overshoot etc. breaks away from from the scope that puts in place if moving body has, the judgement that then do not put in place, the judgement that can have reliability.In addition, in the present invention, judge, do not need to use the model of moving body according to physical location, speed and the acceleration of moving body.Therefore, less than modeled error based on moving body.
Aforementioned calculation mechanism is, { Pi} tries to achieve the time series data { vi} of speed according to the time series data of the position of moving body, and according to the time series data of the speed of trying to achieve try to achieve acceleration time series data ai), here, i is the note of express time sequence, i represents current, and the distance from current location Pi to stop position is in fact with-vi
2/ ai tries to achieve.Here, the meaning of " in fact " is-vi
2/ ai multiply by about 0.8～1.2 constant also can, perhaps put in place about 1/10～1/100 compensation of scope of plus-minus also can.In fact, because-vi
2The distance of/ai is equivalent to the upper limit of the distance of stop position, so, if in fact only advance-vi from current location
2Moving body then can be judged because possibility that overshoot etc. breaks away from from the scope that puts in place comes down to not have in the position of/ai in the scope of putting in place.And this judgement can be carried out rapidly by simple calculating.
Preferably, the sensor is correctly measured the 1st axial position as the linear transducer of trying to achieve the position of moving body in the short period.
Preferably, when the current location of trying to achieve by the sensor and the stop position of inferring by aforementioned calculation mechanism all put in place in the scope, be judged to be and put in place.
Moving body of the present invention be the method that puts in place of having judged in moving body has entered the scope that puts in place the time to position decision method, it is characterized in that, be provided with:
Try to achieve step, try to achieve position, speed and the acceleration of moving body by sensor;
Infer step, be used for inferring based on the position of being tried to achieve, speed and acceleration the stop position of moving body by calculation mechanism; And,
Determination step is used for judging that by decision mechanism the stop position inferred is whether in the scope of putting in place.
In this instructions, about the record of movable body system directly be suitable for fully moving body to position decision method, conversely, directly be suitable for movable body system fully about the record to position decision method of moving body.
Preferably, in above-mentioned determination step, when the current location of trying to achieve by the sensor and the stop position of inferring by aforementioned calculation mechanism all put in place in the scope, be judged to be and put in place.
Description of drawings
Fig. 1 is the block diagram of major part of the movable body system of embodiment.
Fig. 2 is the block diagram of the detection unit that puts in place among the embodiment.
Fig. 3 is the process flow diagram of the decision algorithm that puts in place among the expression embodiment.
Fig. 4 is the process flow diagram of inferring algorithm of the stop position among the expression embodiment.
Fig. 5 is the accompanying drawing of inferring of stop position among the expression embodiment, that used phase face.
Fig. 6 represents the judgement that puts in place in the conventional example,
Track when a) the expression moving body is not quiveringly near destination locations,
B) track on the phase face of expression moving body,
C) represent decision signal that puts in place roughly and the decision signal that accurately puts in place.
Fig. 7 represents the judgement that puts in place in the conventional example,
Track when a) overshoot on one side of expression moving body is on one side near destination locations,
B) track on the phase face of expression moving body,
C) represent decision signal that puts in place roughly and the decision signal that accurately puts in place.
Description of reference numerals:
2 movable body systems
4,10 controllers
6,12 servoamplifiers
8,14 linear transducers
16 detection units that put in place
20 position data storage parts
21 speed data storage parts
22 acceleration information storage parts
23 calculating parts
24 stop the estimated position storage part
M1, M2 motor
Embodiment
Illustrate below and implement most preferred embodiment of the present invention.Scope of the present invention should with reference to the record of instructions and the known technology of this area, be determined according to those skilled in the art's understanding based on the record of scope required for protection.
In Fig. 1～Fig. 5, the movable body system 2 of expression embodiment.In each figure, 4 is the 1st axis controller, and 10 is the 2nd axis controller, via each servoamplifier 6,12 CD-ROM drive motor M1, M2. Linear transducer 8,14 is tried to achieve the position of the 1st axial moving body and the position of the 2nd axial moving body respectively, and is input to controller 4,10.
In Fig. 2, put in place the structure of detection unit 16 of expression.Position data storage part 20 is stored the time series data { Pi} of the position that obtains according to linear transducer 8, calculating part 23 is according to time series data { vi}, the speed data storage part sequence data { vi} 21 storage time of the difference formation speed of the time series data of position.Calculating part 23 generates the time series data { ai}, and by 22 storages of acceleration information storage part of acceleration according to the time series data of speed.Calculating part 23 utilizes current location Pi and present speed vi and current acceleration ai, with Pi-vi
2/ ai tries to achieve stop position.Here, negative sign is negative situation corresponding to the deceleration brief acceleration.Infer stop position and do not need strictly to be Pi-vi
2/ ai is essentially Pi-vi
2/ ai gets final product.For example at vi
2/ ai the item in, multiply by about 0.8～1.2 coefficient also can, perhaps at Pi-vi
2Put in place about 1/10～1/100 the compensation of amplitude of scope of plus-minus also can in the item of/ai.Calculating part 23 storages stop estimated position.When current location with when stopping estimated position and all putting in place in the scope, calculating part 23 is judged to be and puts in place.
The method that expression puts in place and judges in Fig. 3～Fig. 5.Here, judge and put in place by these 2 stages that put in place roughly and accurately put in place, but 1 stage also can, perhaps also can more than the stage for 3.When current location in the scope that puts in place roughly and infer stop position also in the scope that puts in place roughly the time, be judged to be roughly and put in place.Then, when current location in the scope that accurately puts in place and infer stop position also in the scope that accurately puts in place the time, be judged to be accurately and put in place.
The mechanism of inferring of expression stop position.Obtain the time series data vi of speed according to the time series data of position Pi, and obtain the time series data ai of acceleration in view of the above.Stop estimated position and be decided to be Pi-vi
2/ ai, as described above, vi
2The item of/ai multiply by 0.8～1.2 coefficient also can, perhaps put in place about 1/10～1/100 compensation of scope of plus-minus also can.In addition, though the time series data of position Pi can correctly obtain from linear transducer in the short period, also can obtain from long laser distance sensor of mensuration cycle.
In Fig. 5, represent Pi-vi
2The meaning of the item of/ai.Fig. 5 represents the phase face of position Pi and speed v i, the coordinate on the phase face according to the order of Q0, Q1, Q2, Q3 near the target stop position.In addition, on the target stop position, position and speed all are 0.Here, Q1 in having entered the scope that puts in place roughly constantly, for example try to achieve connect its with tight before the intercept of line (dotted line of Fig. 5) and position axis of track of some Q0, judge that it is whether in the scope that puts in place roughly.In addition, Q3 in current location has entered the scope that accurately puts in place tries to achieve the some Q2 and the line of some Q3 and the intercept of position axis that connect before tight constantly, judges that it is whether in the scope that accurately puts in place., produce lines herein from current location and two points before tight, still, for example also can be with the mid point of a Q3, Q2 as current location, as the position before, produce lines with the mid point of a Q1, Q0 from four points.
Meaning to the intercept that obtains like this describes.The point of Q0～Q3 etc. is obtained by linear transducer, rather than obtains according to the model in the control of moving body.In addition, thereby owing to give acceleration to moving body and make it to stop at destination locations, so, in fact as the arrangement of the white circle of Fig. 5, stop at than the wiring of Fig. 5 more near a side of destination locations.For example make in motion with uniform acceleration under the situation of moving body deceleration, stop position is Pi-vi
2/ 2ai ,-vi
2The item of/ai is assumed to from current location and only advances and stop with 2 times of the motion with uniform acceleration situation.Like this, in Fig. 5, be the stop position of the moving body of estimation in the worst case with the intercept of position axis.
In the evaluation of Fig. 5, infer stop position according to the time series data of the position of the moving body of reality, do not comprise the model in the control of moving body.The influence of the error when therefore, not being subjected to mobile body model.Therefore, can infer apart from the upper limit of the deviation of purpose stop position.In addition, because in the moment of inferring of carrying out Fig. 5, the position of moving body is in the scope that puts in place roughly, perhaps in the scope that accurately puts in place, and carry out retarded motion, therefore can not stop at a side nearby (outside the scope that puts in place and the position of close this scope that puts in place) of the scope of putting in place.Owing to these reasons, can judge promptly whether moving body stops in the scope of putting in place by correct and simple calculating.
When judging correctly and promptly whether moving body stops in the scope of putting in place, not only can more correctly locate, but also ensuing the 2nd motion is begun.
Claims (6)
1. movable body system is the system that has put in place and judged in moving body has entered the scope that puts in place the time, it is characterized in that having:
Sensor is used to try to achieve position, speed and the acceleration of moving body; And,
Calculation mechanism is used for inferring the stop position of moving body whether in the scope of putting in place based on the position of being tried to achieve, speed and acceleration.
2. movable body system as claimed in claim 1, it is characterized in that, { Pi} tries to achieve the time series data { vi} of speed according to the time series data of the position of moving body in aforementioned calculation mechanism, and, try to achieve the time series data { ai} of acceleration according to the time series data of the speed of being tried to achieve, here i is the note of express time sequence, and i represents current
Distance from current location Pi to stop position is in fact with-vi
2/ ai tries to achieve.
3. movable body system as claimed in claim 1 is characterized in that, the sensor is the linear transducer of trying to achieve the position of moving body.
4. movable body system as claimed in claim 2 is characterized in that, also is provided with decision mechanism, and when the current location of trying to achieve by the sensor and the stop position of inferring by aforementioned calculation mechanism all put in place in the scope, this decision mechanism was judged to be and puts in place.
A moving body to position decision method, be to be judged to be the method that puts in place in moving body has entered the scope that puts in place the time, it is characterized in that having:
Try to achieve step, try to achieve position, speed and the acceleration of moving body by sensor;
Infer step, be used for inferring based on the position of being tried to achieve, speed and acceleration the stop position of moving body by calculation mechanism; And,
Determination step is used for judging that by decision mechanism the stop position inferred is whether in the scope of putting in place.
The described moving body of claim 5 to position decision method, it is characterized in that, in above-mentioned determination step, when the current location of trying to achieve by the sensor and the stop position of inferring by aforementioned calculation mechanism all put in place in the scope, be judged to be and put in place.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009188900A JP4807600B2 (en) | 2009-08-18 | 2009-08-18 | Mobile system |
| JP188900/2009 | 2009-08-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101995846A true CN101995846A (en) | 2011-03-30 |
| CN101995846B CN101995846B (en) | 2014-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010233982.0A Active CN101995846B (en) | 2009-08-18 | 2010-07-20 | Moving vehicle system and in-position determination method of moving vehicle |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US8560197B2 (en) |
| JP (1) | JP4807600B2 (en) |
| KR (1) | KR101356046B1 (en) |
| CN (1) | CN101995846B (en) |
| TW (1) | TWI447549B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9956955B2 (en) * | 2013-05-09 | 2018-05-01 | Toyota Jidosha Kabushiki Kaisha | Driving assistance system |
| JP6400751B2 (en) | 2017-01-26 | 2018-10-03 | ファナック株式会社 | Robot program correction device, robot control device, robot simulation device, and robot program correction method |
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| JPH09128054A (en) * | 1995-10-30 | 1997-05-16 | Denso Corp | Pid controller |
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| CN101207638A (en) * | 2007-12-03 | 2008-06-25 | 浙江树人大学 | Method for tracking target based on prognostic wireless sensor network |
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| JPH0736546A (en) * | 1993-07-20 | 1995-02-07 | Canon Inc | Positioning controller and stage device using the controller |
| JP2739827B2 (en) * | 1994-09-30 | 1998-04-15 | 日本電気株式会社 | Numerical control device and method thereof |
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| WO2000075739A1 (en) * | 1999-06-04 | 2000-12-14 | Kabushiki Kaisha Yaskawa Denki | Position controller for motor |
| KR100342255B1 (en) * | 1999-06-25 | 2002-06-27 | 윤종용 | motor speed control method for robot |
| JP2002091570A (en) * | 2000-09-20 | 2002-03-29 | Yaskawa Electric Corp | Servo control method |
| KR100443550B1 (en) * | 2001-04-18 | 2004-08-09 | 주식회사 네비콤 | IMU-GPS Integrated System including error correction system, Method for reducing search space of integer ambiguity, Method for detecting Cycle slip, and position, velocity, attitude determination Method using the same |
| KR20030037127A (en) * | 2001-11-02 | 2003-05-12 | 삼성전자주식회사 | Method and apparatus for calculating the location of a car in a navigation system |
| JP4478584B2 (en) * | 2005-01-17 | 2010-06-09 | 株式会社ミツトヨ | Position control device, measuring device and processing device |
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2009
- 2009-08-18 JP JP2009188900A patent/JP4807600B2/en active Active
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2010
- 2010-05-17 KR KR1020100045835A patent/KR101356046B1/en active IP Right Grant
- 2010-07-02 US US12/829,506 patent/US8560197B2/en active Active
- 2010-07-20 TW TW099123777A patent/TWI447549B/en active
- 2010-07-20 CN CN201010233982.0A patent/CN101995846B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH08249030A (en) * | 1995-03-13 | 1996-09-27 | Canon Inc | Numerical controller and positioning method |
| JPH09128054A (en) * | 1995-10-30 | 1997-05-16 | Denso Corp | Pid controller |
| CN1987701A (en) * | 2005-12-19 | 2007-06-27 | 发那科株式会社 | Fixed-position stop control apparatus for rotation shaft |
| CN101112931A (en) * | 2006-07-24 | 2008-01-30 | 学校法人庆应义塾 | Moving body and controlling method thereof |
| CN101207638A (en) * | 2007-12-03 | 2008-06-25 | 浙江树人大学 | Method for tracking target based on prognostic wireless sensor network |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4807600B2 (en) | 2011-11-02 |
| CN101995846B (en) | 2014-08-06 |
| JP2011037611A (en) | 2011-02-24 |
| US8560197B2 (en) | 2013-10-15 |
| TWI447549B (en) | 2014-08-01 |
| KR101356046B1 (en) | 2014-01-27 |
| US20110046839A1 (en) | 2011-02-24 |
| KR20110018818A (en) | 2011-02-24 |
| TW201107918A (en) | 2011-03-01 |
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